Vehicle positioning and object avoidance

ABSTRACT

A system is described for presenting information relating to lifting and moving a load object with a vehicle. Upon the lifting, a dimensioner determines a size and a shape of the load object, computes a corresponding spatial representation, and generates a corresponding video signal. During the moving, an imager observes a scene in front of the vehicle, relative to its forward motion direction, and generates a video signal corresponding to the observed scene. The imager has at least one element moveable vertically, relative to the lifting. A display renders a real time visual representation of the scene observed in front of the vehicle based on the corresponding video signal and superimposes a representation of the computed spatial representation of the load object.

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims the benefit of U.S. patent applicationSer. No. 15/007,522 for Vehicle Positioning and Object Avoidance filedJan. 27, 2016 (and published Jul. 27, 2017 as U.S. Patent ApplicationPublication No. 2017/0212517), now U.S. Pat. No. 9,983,588. Each of theforegoing patent application, patent publication, and patent is herebyincorporated by reference in its entirety.

TECHNOLOGY FIELD

The present invention relates generally to vehicles. More particularly,example embodiments of the present invention relate to controlling avehicle.

BACKGROUND

Generally speaking, trucks and other vehicles are useful in handling andmoving materials. Forklifts, for example, comprise driver-operatedself-powered trucks used for lifting, transporting, and positioningmaterial loads in various logistical and industrial environments. Theloads may comprise various configurations. For example, the loads maycomprise boxes, crates, packages, etc., machinery related items, and/oritems secured in a palletized configuration. The environment maycomprise a variety of use settings such as a warehouse, plant, factory,shipping center, etc.

Within the use setting, the forklifts are operable for moving the loadsfrom a first location to a second location for storage, use, orsubsequent transport elsewhere. At the first location, the driverpositions, e.g., a pair of parallel fork components securely beneath theload to be moved. For example, the forks may be inserted within a pairof complimentary recesses within a pallet on which the load is disposed.The forks then lift the load to a height sufficient to allow itsmovement from the first location, over a deck, floor, or other drivingsurface to the second location, where it may then be repositioned.

The forklift may be engine-powered or driven by one or more electricmotors. The engine, or an electrical storage battery for energizing liftand drive motors, may be positioned behind a control station from whicha driver operates the forklift. Forklifts may be configured with thecontrol station disposed behind the lifting forks, which are positionedat the front. As the forklift moves in a forward direction, the load iscarried on the forks ahead of the driver. Depending on its height andthe vertical level at which it is carried, the load may thus obstruct atleast a portion of the driver's view.

As with vehicles generally, and particularly in view of the weight andother characteristics of a load, the weight and operating speed of theforklift, and characteristics of operational use environment, the safeoperation of forklifts depends on the visibility level the drivers arepresented while moving the loads. The obstruction of a driver's view bythe size of a load presents a heightened risk of collision and relatedaccidents. Higher levels of driver experience may become significant inmitigating the heightened collision risk presented by the loadobstructing the driver's vision a demand.

Therefore, it could be useful to improve the view of operators incontrol of vehicles such as forklifts generally, and in particular,during the lifting and moving of loads therewith. It could also thus beuseful to mitigate, or compensate for a blockage, obstruction,occlusion, or other compromise in the view of an operator in control ofthe vehicle, which may be presented by the load lifted therewith. Itcould be useful, further, to reduce the risk of possible collision withavoidable obstructions disposed in the path over which the vehicle ismoving the load.

SUMMARY

Accordingly, in one aspect, an example embodiment of the presentinvention relates to improving the view of operators in control ofvehicles such as forklifts generally, and in particular, during thelifting and moving of loads therewith. An example embodiment mitigates,and compensates for blockage, obstruction, occlusion, and othercompromise over the view of an operator in control of the vehicle, aspresented by the load lifted therewith. Example embodiments reduce therisk of possible collision with avoidable obstructions disposed in thepath over which the vehicle is moving the load.

An example embodiment relates to a system for presenting informationrelating to lifting and moving a load object with a vehicle. The systemcomprises a dimensioner operable, upon the lifting, for determining asize and a shape of the load object, computing a corresponding spatialrepresentation thereof, and generating a first video signalcorresponding to the computed spatial representation. The system alsocomprises an imager operable, during the moving, for observing a scenedisposed before a front of the vehicle, relative to a forward directionof motion, and generating a second video signal corresponding to theobserved scene, the imager comprising at least one element moveablevertically in relation to the lifting. The system comprises, further, adisplay operable for rendering a real time visual representation of theobserved scene disposed before the front of the vehicle based on thecorresponding second video signal and superimposed therewith, arepresentation of the computed spatial representation of the load objectbased on the corresponding first video signal.

The foregoing illustrative summary, as well as other example features,functions and/or aspects or features of embodiments of the invention,and the manner in which the same may be implemented or accomplished, arefurther explained within the following detailed description of exampleembodiments and each figure (“FIG.”) of the accompanying drawingsreferred to therein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A depicts a typical vehicle approaching a load, with which anexample embodiment of the present invention may be used;

FIG. 1B depicts a typical vehicle lifting a load, with which an exampleembodiment of the present invention may be used;

FIG. 1C depicts a possible situation occurrence, which may be avoidedwith use of an example embodiment of the present invention;

FIG. 1D depicts an example vehicle platform, operable for lifting andmoving a load object, according to an embodiment of the presentinvention;

FIG. 2A depicts an example vehicle approach to a load, according to anembodiment of the present invention;

FIG. 2B depicts the example vehicle approach to a load from theperspective of an operator of the vehicle, according to an embodiment ofthe present invention;

FIG. 3A depicts the example vehicle lifting the load in the presence ofa first avoidable object, according to an embodiment of the presentinvention;

FIG. 3B depicts the example vehicle lifting the load in the presence ofthe first avoidable object from the perspective of the vehicle operatorof the vehicle, according to an embodiment of the present invention;

FIG. 4A depicts the example vehicle approaching the first avoidableobject, according to an embodiment of the present invention;

FIG. 4B depicts the example vehicle approaching the first avoidableobject from the perspective of the vehicle operator of the vehicle,according to an embodiment of the present invention;

FIG. 5A depicts the example vehicle lifting the load over the firstavoidable object, according to an embodiment of the present invention;

FIG. 5B depicts the example vehicle lifting the load over the firstavoidable object from the perspective of the vehicle operator of thevehicle, according to an embodiment of the present invention;

FIG. 6A depicts the example vehicle lifting the load in the presence ofa second avoidable object, according to an embodiment of the presentinvention;

FIG. 6B depicts the example vehicle lifting the load in the presence ofthe second avoidable object from the perspective of the vehicle operatorof the vehicle, according to an embodiment of the present invention;

FIG. 7A depicts the example vehicle approaching the second avoidableobject, according to an embodiment of the present invention;

FIG. 7B depicts the example vehicle approaching the second avoidableobject from the perspective of the vehicle operator of the vehicle,according to an embodiment of the present invention;

FIG. 8A depicts the example vehicle lifting the load over the secondavoidable object, according to an embodiment of the present invention;

FIG. 8B depicts the example vehicle lifting the load over the secondavoidable object from the perspective of the vehicle operator of thevehicle, according to an embodiment of the present invention;

FIG. 9 depicts an example system for presenting information relating tolifting and moving a load object with a vehicle, according to anembodiment of the present invention;

FIG. 10 depicts a flowchart for an example method for presentinginformation relating to lifting and moving a load object with a vehicle,according to an embodiment of the present invention;

FIG. 11 depicts an example computer and network platform, according toan embodiment of the present invention may be practiced; and

FIG. 12 depicts an example scenario, in which example embodiments of thepresent invention may be used.

DESCRIPTION OF EXAMPLE EMBODIMENTS

Example embodiments of the present invention are described in relationto a system for presenting information relating to lifting and moving aload object with a vehicle. Upon the lifting, a dimensioner determines asize and a shape of the load object, computes a corresponding spatialrepresentation, and generates a corresponding video signal. During themoving, an imager observes a scene in front of the vehicle, relative toits forward motion direction, and generates a video signal correspondingto the observed scene. The imager has at least one element moveablevertically, relative to the lifting. A display renders a real timevisual representation of the scene observed in front of the vehiclebased on the corresponding video signal and superimposes arepresentation of the computed spatial representation of the loadobject.

Overview.

Example embodiments are described in relation to systems and methods forpresenting information relating to lifting and moving a load object witha vehicle. The system comprises a dimensioner operable, upon thelifting, for determining a size and a shape of the load object,computing a corresponding spatial representation thereof, and generatinga first video signal corresponding to the computed spatialrepresentation. The system also comprises an imager operable, during themoving, for observing a scene disposed before a front of the vehicle,relative to a forward direction of motion, and generating a second videosignal corresponding to the observed scene, the imager comprising atleast one element moveable vertically in relation to the lifting. Thesystem comprises, further, a display operable for rendering a real timevisual representation of the observed scene disposed before the front ofthe vehicle based on the corresponding second video signal andsuperimposed therewith, a representation of the computed spatialrepresentation of the load object based on the corresponding first videosignal.

The vehicle may comprise a forklift. The forklift comprises a member,such as a movable pair of forks, operable in relation to the lifting ofthe load. The at least one element of the imager moveable vertically inrelation to the lifting is positioned on a portion of the memberdisposed proximate to the front of the vehicle.

The observation of the scene comprises capturing a real timethree-dimensional (3D) image of the scene disposed before the front ofthe vehicle. The rendering of the real time visual representation of theobserved scene disposed before the front of the vehicle is presented atleast in relation to a perspective corresponding to the at least onevertically moveable element.

The spatial representation corresponding to the load object may comprisea wireframe computed based on a determination related to a size and ashape of the load object.

In an example embodiment, the dimensioner is operable, further, andprior to the lifting of the load item, for computing a distance betweenthe front of the vehicle and the load item. The display is operable,further, for rendering a representation corresponding to the computeddistance.

The imager may comprise a trajectory analyzer operable, upon a detectionof one or more avoidable objects positioned over a range within theobserved scene disposed before the front of the vehicle, for computing atrajectory relating to the forward motion of the vehicle in relation toeach of the avoidable objects. A trajectory signal corresponding to eachof the avoidable objects is generated.

Upon the detection of the one or more objects, the rendering of the realtime visual representation of the observed scene disposed before thefront of the vehicle may comprise presenting a visual representation ofthe one or more avoidable objects and data relating to the computedtrajectory.

An example embodiment may be implemented in which, upon the computedtrajectory comprising an imminent risk of a collision with at least oneof the avoidable objects, the trajectory analyzer is operable, further,for performing at least one action related to avoiding or amelioratingthe collision risk. For example, an alarm may be annunciated in relationto the avoidance and/or amelioration of the collision risk, an evasiveaction, such as defensive steering, may be initiated, and/or action maybe implemented in relation to braking, slowing, and/or stopping thevehicle safely to avoid or ameliorate the collision risk.

In an example embodiment the system may further comprising a pluralityof cameras. The multiple cameras are operable in relation to thedimensioner and/or the imager. The cameras comprise the at least oneelement moveable vertically in relation to the lifting. For example, oneof the cameras may be disposed upon a portion of the lifting memberdisposed proximate to the front of the vehicle. The display ispositioned to be observable to an operator, such as the driver, of thevehicle during the lifting and the moving.

The system may be disposed in a vehicle platform and/or operable with acomputer and network platform. Example embodiments of the presentinvention relates to the vehicle platform and to the computer andnetwork platform. The system may be operable for performing a computerrelated process for presenting information relating to lifting andmoving a load object with a vehicle.

An example embodiment of the present invention relates to a method forpresenting information relating to lifting and moving a load object witha vehicle. The method may be performed, executed, or implemented by asystem, such as the system described herein. An example embodimentrelates to a non-transitory computer-readable medium comprisinginstructions operable for causing, configuring, controlling, orprogramming one or more processor devices to perform or execute a methodfor presenting information relating to lifting and moving a load objectwith a vehicle, such as the method described herein.

Accordingly, in one aspect, an example embodiment of the presentinvention relates to improving the view of operators in control ofvehicles such as forklifts generally, and in particular, during thelifting and moving of loads therewith. An example embodiment mitigates,and compensates for blockage, obstruction, occlusion, and othercompromise over the view of an operator in control of the vehicle, aspresented by the load lifted therewith. Example embodiments reduce therisk of possible collision with avoidable obstructions disposed in thepath over which the vehicle is moving the load.

Example Use Setting.

FIG. 1A depicts a typical vehicle 11 approaching a load 12, with whichan example embodiment of the present invention may be used. The vehicle11 may comprise a forklift. The load 12 is disposed on a solidhorizontal surface such as a deck, floor, platform, lot, or road. Thevehicle 11 moves over the solid horizontal surface 19 as it approachesthe load 12.

As the vehicle 11 approaches proximity with the load 12, the driver(also referred to herein as an “operator”) carefully positions ahorizontal part of a lifting member beneath the load 12. The operatorapplies an upward mechanical force to the load 12 with the liftingmember, which lifts the load 12 above a plane corresponding to thehorizontal surface 19. FIG. 1B depicts a typical vehicle lifting a load,with which an example embodiment of the present invention may be used.

With the load 12 lifted, the operator may then move the loadhorizontally across the horizontal surface 19 by driving the vehicle 11forward. However, if the load is tall enough to block or occlude theforward vision of the driver, the presence of an unseen obstruction 17within the direction of motion of the vehicle 11 may present a risk of apossible collision 13.

FIG. 1C depicts such a possible situation occurrence, which may beavoided with use of example embodiments of the present invention. Therisk of the possible collision 13 may be associated with concomitantsafety and damage hazards. An example embodiment of the presentinvention relates to a system for presenting information relating tolifting and moving a load object with a vehicle.

Example Vehicle Platform.

FIG. 1D depicts an example vehicle platform 11, operable for lifting andmoving a load object, according to an embodiment of the presentinvention. The vehicle 11 may comprise a forklift. The vehicle 11comprises a structure 111 suspended on a movable frame 112. The vehiclealso comprises a lift member 113. The lift member 113 is movably coupledto the structure 111 and operable for lifting the load object. Thevehicle 11, further, comprises a drive 114 coupled to the moveable frame112 and operable for providing a mechanical force for operating the liftmember 113 and for moving the vehicle 11 and the lifted load object.

The drive 114 may comprise an engine and gear train coupled to wheels,on which the moveable frame 112 rolls across a horizontal surface, suchas a deck, floor, etc. The drive may comprise, alternatively, one ormore electrical motors and an electrical storage battery operable forenergizing the motor(s). The electrical storage batteries may compriseelectrodes, and plates comprising a conductive and electrochemicallyreactive metallic or metalloid material (e.g., lead) disposed in anarray of parallel plates suspended within an electrolyte (e.g., sulfuricacid). Various control components may be associated with the enginerelated, or the motor related drive 114.

The driver operates the vehicle 11 from an operator station 118. Theoperator station 118 has an open or window (e.g., windshield) coveredview forward, towards the front 119 of the vehicle 11. The forwarddirection faces a forward direction of motion, in which the vehicle 11may move the load. The vehicle 11 also comprises a steering mechanismoperable for turning at least one set of wheels and turning thedirection of motion of the vehicle to the left or the right relative tothe forward direction of motion. The vehicle 11 may also be moved andsteered in reverse, opposite from the direction of forward motion.

The vehicle comprises, further, a system 90. The system 90 is operablefor presenting information relating to the lifting and the moving of theload object and the vehicle. The system 90 comprises at least oneelement 925, such as a camera operable with an imager, which is moveablevertically in relation to the lifting, is positioned on a portion of thelift member disposed proximate to the front 119 of the vehicle 11. Thesystem 90 may also comprise at least one element 922, such as a cameraoperable with the imager, which is vertically stationary in relation tothe lifting. The system 90 comprises, further, a display 117.

An example embodiment may be implemented in which the display 117comprises a ‘heads-up display’ (HUD). The HUD 117 is transparent andallows the driver to look forward, through it. However, the HUD 117 isoperable for presenting visual information to the driver, within theforward field of view, without substantially occluding or blockingdirect viewing there through.

Example System.

An example embodiment relates to a system for presenting informationrelating to lifting and moving a load object with a vehicle. FIG. 9depicts an example system 900 for presenting information relating tolifting and moving a load object with a vehicle, according to anembodiment of the present invention.

The system 900 comprises a dimensioner 910. The dimensioner 910 maycomprise a measurement and wireframe processor 911 and a signalgenerator 912. The dimensioner 910 is operable, upon the lifting, fordetermining a size and a shape of the load object, computing acorresponding spatial representation thereof, and generating a firstvideo signal 918 corresponding to the computed spatial representation.

The computed spatial representation may comprise a wireframecorresponding to the size and shape of the load object. The size andshape of the load object may be computed based on image data 927received from an imager. The first video signal 918 may be generated bya signal generator 912.

The system also comprises an imager 920. The imager 920 may comprise aplurality of real time image capture elements, such as 3D video cameras.The image capture elements comprise at least one vertically movable(relative to the lifting of the load object) element 925, which may bedisposed with the lift member 113. The image capture elements maycomprise, further, a vertically stationary element 926. The imagecapture elements are operable for capturing a visible scene disposedbefore the front 119 of the vehicle 11.

Thus, the imager 920 is operable, during the moving, for observing thescene disposed before a front 119 of the vehicle 11, relative to itsforward direction of motion. The imager is operable, further, forgenerating a second video signal 928 corresponding to the observed scenebefore the front 119 of the vehicle 11.

The imager 920 may also comprise an image processor 921, operable forprocessing image data captured by the image capture elements. A signalgenerator 922 may be operable for generating the second video signal 928based on image data processed by the image processor 921. Moreover,processed image data 927 may be provided from the image processor 921 tothe dimensioner 910. The computation of the spatial representation ofthe load object may thus be based on the processed image data 911.

The system 900 comprises, further, a display 930. The display 930 maycomprise the HUD component 117 (FIG. 1D). The display 930 is operablefor rendering a real time visual representation 931 of the observedscene disposed before the front 119 of the vehicle 11 based on thecorresponding second video signal 928. The display 930 is also operablefor rendering, superimposed with the representation 931 of the scene infront of the vehicle 11, a representation 932 of the computed wireframe(or other spatial representation) of the load object based on thecorresponding first video signal 918.

The imager may comprise a trajectory analyzer 923. Upon detection of oneor more avoidable objects positioned over a range within the observedscene disposed before the front 119 of the vehicle 11, the trajectoryanalyzer is operable for computing a trajectory relating to the forwardmotion of the vehicle in relation to each of the avoidable objects. Atrajectory signal corresponding to each of the avoidable objects isgenerated, which may comprise a component of the second video signal928.

Upon the detection of the one or more objects, the rendering of the realtime visual representation of the observed scene disposed before thefront of the vehicle may comprise presenting a visual representation 933of the one or more avoidable objects, and data 935 relating to thecomputed trajectory.

An example embodiment may be implemented in which, upon the computedtrajectory comprising an imminent risk of a collision with at least oneof the avoidable objects, the trajectory analyzer 923 is operable,further, for performing at least one action related to avoiding orameliorating the collision risk. For example, an alarm may beannunciated in relation to the avoidance and/or amelioration of thecollision risk, an evasive action, such as defensive steering, may beinitiated, and/or action may be implemented in relation to braking,slowing, and/or stopping the vehicle 11 safely to avoid or amelioratethe collision risk.

The system 900 is operable for providing information to the operator ofthe vehicle 11 in relation to positioning the load object. The system900 is also operable for providing information to the operator of thevehicle 11 in relation to avoiding collision with objects proximate tothe vehicle 11, which may be disposed in front thereof.

Example Positioning and Collision Avoidance Uses.

An example embodiment of the present invention may be implemented foruse in lifting, moving, and positioning a load object with a vehiclesuch as a forklift. FIG. 12 depicts an example scenario 1200, in whichexample embodiments of the present invention may be used. The exampleuse scenario 1200, depicted in FIG. 12, is described in conjunction witha sequence described with reference to FIG. 2A through FIG. 8B,inclusive.

At scenario 1200 part 1201, an operator drives a vehicle 11, such as aforklift, to approach a load object 12, such as a package disposed on apallet. FIG. 2A depicts an example vehicle 11 approach to a load object12, according to an embodiment of the present invention. FIG. 2B depictsthe example vehicle 11 approach to the load 12 from the perspective 22of an operator of the vehicle 11, according to an embodiment of thepresent invention.

The load 12 is disposed on a solid horizontal surface 29. An avoidableobstruction 27 is disposed before the front 119 of the forklift 11,beyond the load object 12. As a forklift 11 is picking up the loadobject 12, the dimensioner 910 determines its size and shape.

At part 1202 of the scenario, the vertically movable camera element 925captures images of the scene disposed before the front 119 of thevehicle 11, including the load object 12 and the foreground thereof. Thesystem 900 transposes a view of the captured images of the scene to aperspective consistent with that of the driver's direct view, as itwould appear without obstructions, occlusions, or blocked portions ofthe view. The system presents the transposed view to the driver visuallyon the HUD 117.

At part 1203 (and effectively at the same time as part 1202), the system900 displays a spatial representation, such as a wireframe, outliningthe load object 12 and data relating to its dimensions, a distance fromthe front 119 of the lifting member 113 forks to the nearest surface ofthe load item 12, and an alignment (e.g., including angular displacementdata) to pick-up points disposed on the pallet, which comprise locationsassociated with the load object 12 at which it may be lifted securely,safely, and without damage. Based on the corresponding wireframe,computed by the dimensioner 910 based on the size and shape of theobject 12, a transparent representation 33 thereof is presented. Thetransparent load representation 33 is superimposed by the display 930,e.g., on the HUD 117, in an overlay rendered over the renderedrepresentation of the visual scene disposed before the front 119 of thevehicle 11.

At part 1204, the driver operates the vehicle 11 to lift the load item12. FIG. 3A depicts the example vehicle 11 lifting the load 12 in thepresence of a first avoidable object 27, according to an embodiment ofthe present invention. FIG. 3B depicts the example vehicle 11 liftingthe load 12 in the presence of the first avoidable object 27 from theperspective of the vehicle operator of the vehicle, according to anembodiment of the present invention.

At part 1206, the driver operates the vehicle 11 to move the load,safely, across the horizontal surface 29, to a new location, which isseparated translationally from a location of the original position, atwhich the load object 12 was lifted. Upon lifting the load item 12 onthe fork lifting members 113, the system 900 transposes the transparentrepresentation thereof rendered on the HUD 117 at part 1205 at part1207.

At part 1208, the transposed representation of the load object 12 maycomprise a first view of an avoidable obstruction 27, which is disposedwithin the scene 999 before the front 119 of the vehicle 11. Data mayalso be displayed in relation to a distance to the avoidableobstruction, and a height thereof. The scene 999 before the front 119 ofthe vehicle 11, at part 1205, is also transposed to the viewcorresponding to a clear, direct perspective of the operator. FIG. 4Adepicts the example vehicle 11 approaching the first avoidable object,according to an embodiment of the present invention. FIG. 4B depicts theexample vehicle approaching the first avoidable object from theperspective 44 of the vehicle operator of the vehicle, according to anembodiment of the present invention.

The representation of the avoidable object 27 may be highlighted, e.g.,using color, brightness, contrast and other display control techniques,to call direct the operator's attention thereto. Data may also bedisplayed in relation to a distance to the avoidable obstruction, and aheight thereof.

FIG. 5A depicts the example vehicle lifting the load over the firstavoidable object, according to an embodiment of the present invention.FIG. 5B depicts the example vehicle lifting the load over the firstavoidable object from the perspective 55 of the vehicle operator,according to an embodiment of the present invention. Thus, the drivermay operate the lift member 113 to lift the load 12 to a heightsufficient to avoid the avoidable object 27 and/or place the load object12 securely and safely thereon, or proximate to.

FIG. 6A depicts the example vehicle lifting the load in the presence ofa second avoidable object, according to an embodiment of the presentinvention. FIG. 6B depicts the example vehicle lifting the load in thepresence of the second avoidable object from the perspective 66 of thevehicle operator of the vehicle, according to an embodiment of thepresent invention.

FIG. 7A depicts the example vehicle approaching the second avoidableobject, according to an embodiment of the present invention. FIG. 7Bdepicts the example vehicle approaching the second avoidable object fromthe perspective 77 of the vehicle operator of the vehicle, according toan embodiment of the present invention.

FIG. 8A depicts the example vehicle lifting the load over the secondavoidable object, according to an embodiment of the present invention.FIG. 8B depicts the example vehicle lifting the load over the secondavoidable object from the perspective 88 of the vehicle operator of thevehicle, according to an embodiment of the present invention. Thus,example embodiments allow operators to reduce the risk of collision withavoidable objects disposed before the front 119 of the vehicle 11 as theload object is moved therewith.

The vertically movable camera 925 in the lifting member 113 (e.g.,forks) captures a view of what is disposed forward of the front 119 ofthe forklift. A trajectory analysis is performed on the view, e.g.,using the trajectory analyzer 923. The view of the scene before thefront 119 of the forklift 11 available to the direct sight of theoperator may be blocked or occluded by the load object 12 as it iscarried by the forklift 11. In an example embodiment however, this viewis overlaid on the HUD 117, which renders the object 12 that theforklift 11 is carrying, appear transparent in the representationthereof. Thus, the scene before the front 119 of the forklift iseffectively cleared, as viewed on the HUD 117.

The 3D camera 925 associated with the dimensioner 910 and/or the imager920 and disposed in the forks or other lifting members 113, identifiesobjects within a pre-specified range forward of the front 119 of theforklift 11. The display 930 is thus operable for overlaying a red (orother colored, or high-contrast) outline around the object on the HUD117, which helps identify the avoidable objects visually to the driver.The dimensioner may also provide trajectory data 935 therewith such as adistance to the avoidable object 27. Using the vertically movable cameraelement 925, the system 900 thus accommodates moving and movable forks,and forks that are placed at different heights.

Upon placing the load object 12 in the new location, the system 900 may,at part 1209, stop or pause from presenting real time video of the scene999 actively on the HUD 117. Effectively simultaneously at part 1210,the system 900 may pause or stop from presenting the transparentsuperimposition of the package 12 on the HUD 117. The attention of thedriver may then be directed rearward at part 1211, and the vehicle 11may be operated in a reverse direction relative to its front 119, andthe system 900 may report, automatically, via a network to a remotecomputer (FIG. 11) and/or update therewith. The attention of theoperator may then be directed to re-tasking.

Example Process.

An example embodiment of the present invention relates to acomputer-implemented process. FIG. 10 depicts a flowchart for an examplemethod 100 for presenting information relating to lifting and moving aload object with a vehicle, according to an embodiment of the presentinvention.

Step 101 comprises determining, upon the lifting, a size and a shape ofthe load object.

Step 102 comprises computing a spatial representation of the load objectcorresponding to the determined size and shape thereof. The step 102 ofcomputing the spatial representation corresponding to the load objectcomprises computing a wireframe representation of the load item based onthe determined size and shape thereof.

Step 103 comprises generating a first video signal corresponding to thecomputed spatial representation.

Step 104 comprises observing, during the moving and using at least oneelement moveable vertically in relation to the lifting, a scene disposedbefore a front of the vehicle, relative to a forward direction ofmotion. The observing the scene step 104 may comprise capturing a realtime 3D image of the scene disposed before the front 119 of the vehicle11.

Step 105 comprises generating a second video signal corresponding to theobserved scene.

Step 106 comprises rendering a real time visual representation of theobserved scene disposed before the front of the vehicle based on thecorresponding second video signal.

Step 107 comprises rendering the computed spatial representation basedon the corresponding first video signal, the rendered computed spatialrepresentation of the load object superimposed in relation to therendered real time visual representation of the observed scene disposedbefore the front of the vehicle.

The step 106 of rendering of the real time visual representation of theobserved scene disposed before the front 119 of the vehicle 11 ispresented at least in relation to a perspective corresponding to the atleast one vertically moveable element 925.

In an example embodiment, the method 100 may also comprise computing,prior to the lifting of the load item, a distance between the front ofthe vehicle and the load item. A representation of data corresponding tothe computed distance may be rendered by the display 930.

An example embodiment may be implemented in which the determining thesize and a shape of the load object step 101, the observing the scenedisposed before the front of the vehicle step 104, and/or thecomputation of the distance between the front of the vehicle and theload item may comprise processing image data captured with a pluralityof cameras. The cameras comprise the at least one element 925, which ismoveable vertically in relation to the lifting.

An example embodiment may be implemented in which the method 100 furthercomprises analyzing the observed scene disposed before the front of thevehicle. Based on the analysis of the observed scene, a presence of oneor more avoidable objects is detected, which are positioned over a rangewithin the observed scene disposed before the front of the vehicle. Atrajectory is computed relating to the forward motion of the vehicle inrelation to each of the avoidable objects and a corresponding trajectorysignal generated in relation to each of the avoidable objects. A visualrepresentation of the one or more avoidable objects is rendered, alongwith data relating to the computed trajectory.

Upon the computed trajectory comprising a data indicative of an imminentrisk of a collision with at least one of the avoidable objects, at leastone action may be performed in relation to avoiding (or ameliorating)the collision. Example embodiments may be implemented in which theactions performed in avoidance (or amelioration) of the possiblecollision comprise annunciating an alarm related to the avoiding of thecollision, initiating an evasive action such as careful evasivesteering, and/or carefully braking, slowing, and/or stopping thevehicle.

Example Computer & Network Platform.

An example embodiment of the present invention relates to a computer andnetwork platform. FIG. 11 depicts an example computer and networkplatform 1100, with which an embodiment of the present invention may bepracticed.

An example embodiment may be implemented in which one or more componentsof the information presentation system 900 comprise (or are configuredin) electronic or computer based hardware, firmware and software storedphysically (e.g., electrically, electronically, optically,electromagnetically, magnetically) in non-transitory computer readablestorage media such as dynamic memory, flash memory, drives, caches,buffers, registers, latches, memory cells, or the like.

In an example embodiment of the present invention, the system 900comprises a control area network (CAN) bus 1153 and a controllerinterface 1197. The CAN bus 1153 is operable for exchanging data signalsbetween a plurality of electronic components of the system 900.

For example, the CAN bus 1153 may be operable for allowing an exchangeof signals between the dimensioner 910 and the imager 920 and display930, and between the imager 920, the dimensioner 910, and the display930. The CAN bus 1153 is also operable for exchanging signals betweenthe dimensioner 910, the imager 920, the display 930, and the controllerinterface 1197.

The controller interface 1197 is operable for exchanging signals betweenthe system 900 and a control computer (“controller”) 1110. The CAN bus1153 is operable, further, for exchanging signals between the controllerinterface 1197 and a system interface 1117 of the controller 1110.

The controller 1110 is operable for exchanging data signals with thesystem 900. For example, the controller 1110 may transmit commands tothe system 900, receive signals therefrom, and update softwareassociated therewith.

The controller 1110 comprises a data bus 1111. The controller 1110 alsocomprises a central processor unit (CPU) 1112, a memory, such as adynamically-operable random access memory (RAM) 1113, and a data storageunit 1114. The data bus 1111 is operable for exchanging signals betweenthe components of the computer 1110. The data storage unit 1114, and theRAM 813, may comprise non-transitory computer-readable storage media.

The non-transitory computer-readable storage media may compriseinstructions 1115. The instructions 1115 may be operable for causing,configuring, controlling, and/or programming operations of the system900, and an information presentation process such as the method 100(FIG. 10).

The controller 810 may also comprise a statically-operable memory suchas a read-only memory (‘ROM’), and one or more additional processors,the operations of which may relate to image processing, graphicprocessing (‘GPU’), digital signal processing (‘DSP’), and/ormathematics (‘Math’) co-processing, which may each be performed with anassociated, dedicated, and/or shared dynamic memory. The controller 1110may also comprise input receiving devices, including electromechanicallyand/or electromagnetically-actuated switches, sensors, etc.

The controller 810 may comprise a liquid crystal display (LCD) device1190. An example embodiment may be implemented in which the LCD 1190comprises a graphical user interface (GUI) 1191, which is operable forreceiving haptic user inputs applied over portions of a surface of aviewing area of the LCD 1190. The controller 810 may also comprise anetwork interface 815. An example embodiment may also (or alternatively)be implemented in which the LCD 1190 is associated, or operable inconjunction, with the HUD 117 and the display 930. The controller 1110also comprises a network interface 1116.

The network interface 1116 is operable for coupling and exchanging data,communicatively, with a data and communication network 1155. One or moreremote vehicles 1177 and/or remote computers 1188 may be coupled,communicatively, via the network 1155, and/or interact with thecontroller 1100, and/or with an operation of the system 900. Thus, thesystem 900 may be operable within a larger system, more generalizedcontext, and wider use environments, such as may relate to logistics,commerce, shipping, storage, transport, material handling, etc.

To supplement the present disclosure, this application incorporatesentirely by reference the following commonly assigned patents, patentapplication publications, and patent applications:

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Example embodiments of the present invention are thus described inrelation to presenting information relating to lifting and moving a loadobject with a vehicle. Upon the lifting, a dimensioner determines a sizeand a shape of the load object, computes a corresponding spatialrepresentation, and generates a corresponding video signal. During themoving, an imager observes a scene in front of the vehicle, relative toits forward motion direction, and generates a video signal correspondingto the observed scene. The imager has at least one element moveablevertically, relative to the lifting. A display renders a real timevisual representation of the scene observed in front of the vehiclebased on the corresponding video signal and superimposes arepresentation of the computed spatial representation of the loadobject.

Example embodiments of the present invention are thus useful forimproving the view of operators in control of vehicles such as forkliftsgenerally, and in particular, during the lifting and moving of loadstherewith. Example embodiments mitigate, and compensate for blockage,obstruction, occlusion, and other compromise over the view of anoperator in control of the vehicle, as presented by the load liftedtherewith. Example embodiments reduce the risk of possible collisionwith avoidable obstructions disposed in the path over which the vehicleis moving the load.

For clarity and brevity, as well as to avoid unnecessary or unhelpfulobfuscating, obscuring, obstructing, or occluding features of an exampleembodiment, certain intricacies and details, which are known generallyto artisans of ordinary skill in related technologies, may have beenomitted or discussed in less than exhaustive detail. Any such omissionsor discussions are neither necessary for describing example embodimentsof the invention, nor particularly relevant to understanding ofsignificant elements, features, functions, and aspects of the exampleembodiments described herein.

In the specification and/or figures, typical embodiments of theinvention have been disclosed. The present invention is not limited tosuch example embodiments. The use of the term “and/or” includes any andall combinations of one or more of the associated listed items, and theterm “or” is used in an inclusive (and not exclusive) sense. The figuresare schematic representations and so are not necessarily drawn to scale.Unless otherwise noted, specific terms have been used in a generic anddescriptive sense and not for purposes of limitation.

What is claimed, is:
 1. A system, comprising: a dimensioner operable fordetermining dimensions of a load object, computing a spatialrepresentation of the load object, and generating a first video signalcorresponding to the computed spatial representation; an imager operablefor observing a scene in front of a vehicle and generating a secondvideo signal corresponding to the observed scene, the imager comprisingat least one element moveable vertically; and a display operable for:rendering a real time visual representation of the observed scene basedon the second video signal, the visual representation transposed to aperspective consistent with a direct view of an operator of the vehicle;and rendering a transparent representation of the computed spatialrepresentation of the load object based on the corresponding first videosignal superimposed with the visual representation of the observedscene.
 2. The system as described in claim 1, wherein: the vehiclecomprises a forklift; the forklift comprises a member for lifting aload; and the imager's at least one element moveable vertically ispositioned on a portion of the member disposed proximate to the front ofthe vehicle.
 3. The system as described in claim 1, wherein: observing ascene comprises capturing a real time three dimensional (3D) image ofthe scene; and rendering the real time visual representation of theobserved scene comprises rendering a real time visual representation ofthe observed scene based on a perspective corresponding to the at leastone vertically moveable element.
 4. The system as described in claim 1,wherein the computed spatial representation of the load object comprisesa wireframe computed based on the determined dimensions of the loadobject.
 5. The system as described in claim 1, wherein: the dimensioneris operable for computing a distance between the front of the vehicleand the load object; and the display is operable for rendering arepresentation corresponding to the computed distance.
 6. The system asdescribed in claim 1, wherein the imager comprises a trajectory analyzeroperable, upon a detection of one or more objects positioned over arange within the observed scene disposed before the front of thevehicle, for computing a trajectory relating to the forward motion ofthe vehicle in relation to each of the objects and generating atrajectory signal corresponding to each of the avoidable objects.
 7. Thesystem as described in claim 6, wherein, upon the detection of the oneor more objects, rendering the real time visual representation of theobserved scene comprises rendering a visual representation of the one ormore objects and data relating to the computed trajectory.
 8. The systemas described in claim 7, wherein, upon the computed trajectorycomprising an imminent risk of a collision with at least one of theobjects, the trajectory analyzer is operable for performing at least oneaction related to avoiding the collision.
 9. The system as described inclaim 1, comprising a plurality of cameras.
 10. The system as describedin claim 1, wherein the display is observable to an operator of thevehicle during operation of the vehicle.
 11. A method of providing adriver of a vehicle an unobstructed view, the method comprising:capturing images of a scene disposed before a vehicle using one or moreimagers, wherein an object obstructs at least a portion of the scenedisposed before the vehicle when viewed from a perspective consistentwith a direct view of a driver of the vehicle, the one or more cameraspositioned on the vehicle so as to observe the scene; computing aspatial representation of the object based on at least a portion of theimages from at least one of the imagers; transposing a view of at leasta portion of the images to a perspective consistent with a direct viewof a driver of the vehicle; and displaying a real-time visualrepresentation of the scene disposed before the vehicle, the visualrepresentation transposed to the perspective consistent with the directview of the driver of the vehicle and comprising a transparentrepresentation of the object superimposed in relation to the visualrepresentation.
 12. The method of claim 11, wherein the vehiclecomprises a lifting member configured to move a load, and wherein theobject obstructs at least a portion of the scene when moving a loadcomprising the object.
 13. The method of claim 11, wherein the vehiclecomprises a lifting member with at least one of the imagers disposedupon a portion of the lifting member.
 14. The method of claim 11,wherein the vehicle comprises a lifting member configured to move aload, and wherein at least one of the imagers comprises an elementmovable in relation to the load.
 15. The method of claim 11, wherein theobject comprises one or more boxes, one or more crates, one or morepackages, one or more machinery items, and/or an one or more palletizedconfigurations.
 16. The method of claim 11, wherein the transparentrepresentation of the object comprises a wireframe outlining the object.17. The method of claim 11, wherein the vehicle is configured to movethe object, and wherein displaying the real-time visual representationof the scene comprises superimposing the transparent representation ofthe object in relation to the visual representation upon lifting theobject.
 18. The method of claim 11, wherein the vehicle comprises aheads-up-display configured display the real-time visual representationof the scene.
 19. The method of claim 11, wherein the scene disposedbefore the vehicle comprises an obstruction beyond the object, and thereal-time visual representation of the scene comprises a view of theobstruction.
 20. The method of claim 11, comprising: detecting anobstruction in scene, wherein the real-time visual representation of thescene comprises a visual representation of the obstruction; andcomputing a trajectory for the vehicle in relation to the obstruction.